Biped Robot
Mostrando 1-10 de 10 artigos, teses e dissertações.
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1. Tracking control of a planar five-link bipedal walking system with point contact, considering self-impact joint constraint by adaptive neural network method
AbstractIn order to achieve the practical characteristics of natural bipedal walking, a key feature is to realize "the straight knee state of walking" during stance and swing motions. Considering a straight knee necessitates that the shank link of each leg not to undergo the rotation angles which are greater than that of the thigh link. For this purpose, var
Lat. Am. j. solids struct.. Publicado em: 2015-06
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2. Design of biped robots with simple dynamics: modeling, control and trajectory generation. / Projeto de robôs bípedes com dinâmica simplificada: modelagem, controle e síntese de trajetórias.
In this thesis we present a new class of biped robots with articulate legs and a torso. The proposed design is constructed by means of applying counter- balances to each link of the leg, and therefore it has some properties that simplifies dramatically the dynamics of the robot. We prove that the result- ing system, under certain assumptions, is exact linear
Publicado em: 2008
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3. IntegraÃÃo de dados de navegaÃÃo de um robà bÃpede
Este trabalho està focado na modelagem matemÃtica e simulaÃÃo de um robà bÃpede. Parte da nossa modelagem matemÃtica visa calcular as posiÃÃes e velocidades de cada ponto do robà bÃpede, em cada instante de tempo, nos seus aspectos cinemÃticos a partir de dados obtidos de sensores inerciais. Neste trabalho essa modelagem foi feita atravÃs da uti
Publicado em: 2008
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4. An integrated control for a biped walking robot
The main objective of this work is to present and discuss some results of an integrated control system for a biped robot machine in the dynamic gait. We divided the integrated control system in two sub-systems: a control of the trajectories for the legs and the Automatic Generator of Trajectory. We designed the Automatic Generator of Trajectory by employing
Journal of the Brazilian Society of Mechanical Sciences and Engineering. Publicado em: 2006-12
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5. Kinematical modeling and optimal design of a biped robot joint parallel linkage
This paper shows the design and analysis of a parallel three-dimensional linkage, conceived to work as the ankle and hip joints of an anthropometric biped robot. This kind of mechanism architecture provides low-weight, highly stable assemblies, and allows the use of actuator synergies. On the other hand, the mechanical transmission ratio is not usually favor
Journal of the Brazilian Society of Mechanical Sciences and Engineering. Publicado em: 2006-12
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6. Desenvolvimento de um robà bÃpede autÃnomo
Humanoid robotic systems are not still easily available for researchers. Situations where designs that had control strategies for biped robots and artificial intelligence algorithms developed in simulation enviroment that canÂt be tested in real world are very common. With the intention to share with another researchers a low cost robotic plataform that can
Publicado em: 2006
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7. Projeto de um robô bípede para a reprodução da marcha humana. / Design of a biped robot to reproduce the human gait.
A análise da marcha humana é um dos principais recursos que podem ser utilizados no estudo e tratamento de patologias que envolvem o aparelho locomotor. O presente trabalho visa o projeto e a construção de um robô bípede antropomórfico para ser, juntamente com um laboratório de marcha, uma ferramenta de auxílio aos profissionais da saúde na anális
Publicado em: 2005
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8. Sistema de substituição : uma tecnica reativa para auto-reparo e auto-diagnostico de planos / Replacement system: a reactive technique for planning sel-repair and self-diagnosis
t: A planner must be prepared to deal with dynamic characteristics of the system it acts upon. Lack of world knowledge, dynamic changes, actions with non-deterministic results and faults may put the environment in a state different from the one the planner was expecting while performing a task. When this happens, the pre-conditions required for the plan may
Publicado em: 2005
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9. Development of an integrated adaptative control system for a biped robot with a trunk / Desenvolvimento de um sistema de controle adaptativo e integrado para locomoção de um robo bipede com tronco
Este trabalho concebeu um robô bípede composto por uma sucessão de elos rígidos interconectados por 12 articulações rotativas, permitindo movimentos tridimensionais. O robô bípede é constituído por dois subsistemas: tronco e membros inferiores. A modelagem matemática foi realizada em separado para cada um dos subsistemas, que são integrados pelas
Publicado em: 2004
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10. Recurrent neural network approaches for biped walking robot based on zero-moment point criterion
The main objective of this paper is to use a recurrent neural network (RNN) to determine the trunk motion for a biped-walking machine, based on the zero-moment point (ZMP) criterion. ZMP criterion can be used to plan a stable gait for a biped-walking machine that has a trunk (inverted pendulum). So, a RNN is trained to determine a compensative trunk motion t
Journal of the Brazilian Society of Mechanical Sciences and Engineering. Publicado em: 2003-03